Posture estimation using a 3D range camera for standing-up motion assist robot
Natsumi Tsukada, Kazuya Ogura, Aiguo Ming, Makoto Shimojo · 2012
As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor and a 3D range camera. This paper describes the posture estimation of human using a 3D range camera. A method for posture estimation from the 3D range data is proposed. The method is implemented and experimental results show the availability of the 3D range camera for posture estimation.